JP2007090487A - Workpiece transfer device - Google Patents

Workpiece transfer device Download PDF

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JP2007090487A
JP2007090487A JP2005282788A JP2005282788A JP2007090487A JP 2007090487 A JP2007090487 A JP 2007090487A JP 2005282788 A JP2005282788 A JP 2005282788A JP 2005282788 A JP2005282788 A JP 2005282788A JP 2007090487 A JP2007090487 A JP 2007090487A
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arm
workpiece
horizontal axis
around
work
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Yoshiaki Kato
義明 加藤
Morio Kamiya
守夫 神谷
Hidenori Iwamoto
英紀 岩本
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Shinmei Industry Co Ltd
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Shinmei Industry Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece transfer device capable of achieving simplification, miniaturization and cost reduction of the entire structure, capable of securing a sufficiently long transfer distance while having a constitution excellent in workpiece handling-capability by reducing the entire height, and also, capable of ensuring safety during workpiece transfer. <P>SOLUTION: The workpiece transfer device is constituted of a buckling linkage 6, which is composed by connecting a pair of first/second arms 3, 4 so as to be freely relatively rotatable around the axial center of a horizontal shaft 5 and by making a trestle base 2 support the base end part of the first arm 3 so as to be freely rotatable around the axial center of the horizontal shaft, and a workpiece transfer member 8 pivotally connected to the tip part of the second arm 4 so as to be rotatable around the axial center of the horizontal shaft. In that case, the buckling linkage 6 is contracted or extended in the transfer direction with the trestle base 2 as the base point. Consequently, it is possible to transfer the workpiece W along a fixed horizontal transfer path. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、例えば工場内に点在配置されている各種工作機械等の加工ステーション間に亘って、例えば工作物などのワークを搬送する場合に用いられるワーク搬送装置に関する。   The present invention relates to a work transfer device used when, for example, a work such as a workpiece is transferred between processing stations such as various machine tools scattered in a factory.

この種のワーク搬送装置としては、図７（Ａ）及び（Ｂ）に示すように、接地脚体５１を備えたベース５２上にワークＷを水平面に沿ってスライド可能に支持するスライドガイド（レールまたは回転ローラ群）５３を設け、このスライドガイド５３によるワークＷのスライド支持経路の中間部位に昇降ガイド５４を立設し、この昇降ガイド５４に昇降可能に装着された昇降ブラケット５５にその下端部にワーク搬送部材５６ａを備えた平行四連リンク機構式のワーク搬送用アーム５６を水平支軸５７周りでワーク搬送方向に往復揺動自在に枢着するとともに、このワーク搬送用アーム５６を前記水平支軸５７周りに揺動駆動するギャードモータ等の駆動手段５８を設け、この駆動手段５８を介してワーク搬送用アーム５６を揺動駆動するとともに、このワーク搬送用アーム５６の水平支軸５７を有するブラケット５５を昇降ガイド５４に沿って昇降させることにより、ワーク搬送部材５６ａをスライド支持経路に沿ってほぼ水平な軌跡を描くように移動させてワークＷをスライドガイド５３に沿わせて上流側から下流側に搬送させるように構成したアーム式ワーク搬送装置が知られている（例えば、特許文献１参照）。   7A and 7B, a slide guide (rail) that supports a workpiece W slidably along a horizontal plane on a base 52 provided with a grounding leg 51. As shown in FIGS. (Or a rotating roller group) 53, and an elevating guide 54 is erected at an intermediate portion of the slide support path of the work W by the slide guide 53, and a lower end portion of the elevating bracket 55 is mounted on the elevating guide 54 so as to be movable up and down. A work transport arm 56 of a parallel quadruple link mechanism having a work transport member 56a is pivotally mounted around the horizontal support shaft 57 so as to be reciprocally swingable in the work transport direction. Drive means 58 such as a geared motor that swings around the support shaft 57 is provided, and the workpiece transfer arm 56 is driven to swing through the drive means 58. Further, the workpiece transfer member 56a is moved along the slide support path so as to draw a substantially horizontal locus by moving the bracket 55 having the horizontal support shaft 57 of the workpiece transfer arm 56 up and down along the lifting guide 54. There is known an arm-type workpiece conveyance device configured to convey the workpiece W from the upstream side to the downstream side along the slide guide 53 (see, for example, Patent Document 1).

また、図８にその概要を示すように、接地支持される架台ベース（固定ベースまたはその固定ベース上に昇降自在に設けられた昇降ベース）６１の上部にワーク搬送方向に駆動スライド可能な第１スライドレール６２ａを配置するとともに、この第１スライドレーム６２ａの上部側にワーク搬送方向に駆動スライド可能な第２スライドレール６２ｂを配置し、この第２スライドレーム６２ｂ上にワーク搬送テーブル６３をワーク搬送方向に往復スライド自在に支持させ、前記第１スライドレール６２ａを架台ベース６１に対してワーク搬送方向に駆動スライドさせるとともに、第２スライドレール６２ｂを第１スライドレール６２ａに対してワーク搬送方向に駆動スライドさせるといったように、第１，第２スライドレール６２ａ，６２ｂを伸縮動作させ、かつ、ワーク搬送テーブル６３をワーク搬送方向に往復スライドさせることにより、ワークＷを上流側から下流側に搬送させるように構成した伸縮式ワーク搬送装置も知られている（例えば、特許文献２参照）。   Further, as schematically shown in FIG. 8, a first base that can be driven and slid in the workpiece conveyance direction on an upper portion of a gantry base (a fixed base or an elevating base provided on the fixed base so as to be movable up and down) 61 is supported. A slide rail 62a is arranged, and a second slide rail 62b that can be driven and slid in the workpiece conveyance direction is arranged on the upper side of the first slide frame 62a, and the workpiece conveyance table 63 is conveyed on the second slide frame 62b. The first slide rail 62a is driven to slide in the workpiece transfer direction with respect to the gantry base 61, and the second slide rail 62b is driven in the workpiece transfer direction with respect to the first slide rail 62a. Slide the first and second slide rails 62a and 62b so that they slide. There is also known a telescopic workpiece transfer device configured to transfer the workpiece W from the upstream side to the downstream side by performing the contraction operation and sliding the workpiece transfer table 63 back and forth in the workpiece transfer direction (for example, patents). Reference 2).

さらに、上記伸縮式ワーク搬送装置において、図９にその概要を示すように、第２スライドレール６２ｂの上部に第３スライドレール６２ｃ、第４スライドレール（図示省略する。）を配置するといった具合に、スライドレール数を３段以上に増設したもの、さらには、図１０にその概要を示すように、３段以上のスライドレールを有する伸縮式ワーク搬送装置において第２，第３スライドレール６２ｂ，６２ｃを第１スライドレール６２ａの上下幅内に収納可能としたもの、も知られている。   Further, in the telescopic workpiece transfer device, as schematically shown in FIG. 9, a third slide rail 62c and a fourth slide rail (not shown) are arranged on the upper portion of the second slide rail 62b. Further, the number of slide rails is increased to three or more, and as shown in FIG. 10, the second and third slide rails 62b and 62c are provided in the telescopic work transfer device having three or more slide rails. Is also known that can be accommodated within the vertical width of the first slide rail 62a.

特開２００３−２０１００８号公報JP 2003-201008 A 特開２００４−００１９９０号公報Japanese Patent Laid-Open No. 2004-001990

しかし、特許文献１に示されているアーム式ワーク搬送装置の場合は、平行四連リンク機構による姿勢維持手段とブラケットの昇降手段並びにそれら両手段を同期させて揺動運動及び昇降運動させる駆動手段等を要し、装置構造が非常に複雑化、大型化しやすいばかりでなく、搬送距離がワーク搬送用アーム５６の長さで決まるために、搬送距離を長くしようとすると、それに比例して昇降ガイド５４の高さも大きくしなければならず、その結果、装置の全高Ｈが高くなって、コストの高騰が避けられず、また、ワークＷのハンドリング性が悪化するという問題がある。   However, in the case of the arm-type workpiece transfer device disclosed in Patent Document 1, the attitude maintaining means by the parallel quadruple link mechanism, the bracket raising / lowering means, and the driving means for synchronizing and swinging and raising / lowering these two means. The structure of the apparatus is very complicated and easy to increase in size, and the transfer distance is determined by the length of the work transfer arm 56. The height of 54 must also be increased. As a result, the overall height H of the apparatus becomes high, so that an increase in cost is inevitable, and the handling property of the workpiece W is deteriorated.

一方、特許文献２に示されている伸縮式ワーク搬送装置の場合は、上記アーム式のものに比べて装置の全高を低くできる反面、構成部材数が多くなり、それだけ装置コストが増大するとともに、搬送距離がスライドレール６２ａ，６２ｂの長さで決まるために、搬送距離を長くしようとすると、架台ベース６１の水平方向の長さを大きくしなければならず、その結果、装置の全長Ｌが大きくなる。また、スライドレール数を３段以上に増設することで、架台ベース６１の水平方向の長さＬ１を短くできるが、構成部材数がより多くなり、装置コストが一層増大するだけでなく、装置の全高Ｈ１が高くなりやすい。さらに、第２，第３スライドレール６２ｂ，６２ｃを第１スライドレール６２ａの上下幅内に収納可能とすることで、装置の全高ｈを低く抑えることが可能となるが、構成部材数が更に増えてそれらの加工及び組付けに高い精度が要求され、組付けが複雑になることと相俟って、装置のコストが一段と増大するという問題があった。   On the other hand, in the case of the telescopic work conveying device shown in Patent Document 2, while the overall height of the device can be lowered compared to the arm type, the number of components increases, and the cost of the device increases accordingly. Since the transport distance is determined by the lengths of the slide rails 62a and 62b, if the transport distance is to be increased, the horizontal length of the gantry base 61 must be increased. As a result, the overall length L of the apparatus is increased. Become. Further, by increasing the number of slide rails to three or more stages, the horizontal length L1 of the gantry base 61 can be shortened. However, not only the number of components is increased and the apparatus cost is further increased, Overall height H1 tends to be high. Further, by allowing the second and third slide rails 62b and 62c to be housed within the vertical width of the first slide rail 62a, the overall height h of the apparatus can be kept low, but the number of components further increases. Therefore, there is a problem that the cost of the apparatus is further increased in combination with the high accuracy required for the processing and the assembly and the complicated assembly.

本発明は上述の諸実情に鑑みてなされたもので、その目的は、全体構造の簡素化、小型化、低コスト化を図るとともに、全高を低くしてハンドリング性に優れた構成としつつ、搬送距離を十分に長くとることができ、また、ワーク搬送時における安全性も確保することができるワーク搬送装置を提供することにある。   The present invention has been made in view of the above-mentioned circumstances, and its purpose is to simplify the overall structure, reduce the size, and reduce the cost, while reducing the overall height and providing an excellent handling property. An object of the present invention is to provide a workpiece transfer device that can take a sufficiently long distance and can ensure safety during transfer of the workpiece.

上記目的を達成するために案出された本発明に係るワーク搬送装置は、ワークを一定の水平搬送経路の上流側から下流側に搬送するためのワーク搬送装置であって、一対の第１アームと第２アームの端部同士を水平軸心周りに相対回転自在に連結してなる腰折れ式リンク機構における第１アームの基端部が、前記搬送経路の下部に立設した架台ベースの上部に水平軸心周りに回転自在に支持されているとともに、第２アームの遊端部には、ワークを載置支持可能なワーク搬送部材が水平軸心周りに回転可能に枢支連結され、前記腰折れ式リンク機構における第１アームを前記架台ベースへの支持用水平軸心周りに、かつ、前記ワーク搬送部材を前記第２アーム遊端部への枢支連結用水平軸心周りに同一方向に同一速度で同時に回転駆動するとともに、第２アームを第１アームとの連結用水平軸心周りに該第１アームとは逆方向に二倍速で同時に回転駆動する駆動手段が正逆転切換可能に設けられ、この駆動手段の正逆転切換えに伴い前記腰折れ式リンク機構を、前記架台ベースを基点として搬送方向に収縮・伸長動作させることにより、前記ワーク搬送部材を一定姿勢に保ちつつワークを前記一定の水平搬送経路に沿って搬送させるように構成していることを特徴としている。   The workpiece transfer device according to the present invention devised to achieve the above object is a workpiece transfer device for transferring a workpiece from the upstream side to the downstream side of a certain horizontal transfer path, and includes a pair of first arms. The base end portion of the first arm in the waist-folding link mechanism in which the end portions of the first arm and the second arm are connected to each other so as to be relatively rotatable about a horizontal axis, A workpiece conveying member capable of mounting and supporting a workpiece is pivotally connected to the free end portion of the second arm so as to be rotatable about the horizontal axis, and is supported at the free end of the second arm. In the same direction, the first arm in the type link mechanism is the same around the horizontal axis for supporting the gantry base, and the work conveying member is the same around the horizontal axis for pivot connection to the free end of the second arm. When rotating simultaneously at the speed In addition, driving means for simultaneously rotating the second arm around the horizontal axis for connection with the first arm at a double speed in the opposite direction to the first arm is provided so as to be able to switch between forward and reverse rotation. Along with the forward / reverse switching, the waist-folding link mechanism is contracted / extended in the transport direction with the gantry base as a base point, thereby keeping the work transport member in a constant posture and moving the work along the constant horizontal transport path. It is configured to be conveyed.

上記のごとき特徴構成を有する本発明に係るワーク搬送装置は、同一面内に設置可能な第１アームと第２アームからなる腰折れ式リンク機構と該リンク機構の第２アームの遊端部に枢支連結されたワーク搬送部材とこれらリンク機構及びワーク搬送部材を水平軸心周りに回転駆動させる駆動手段とから構成されるものであって、従来の伸縮式ワーク搬送装置に比べて構成部材数を少なくして装置全体の構造及び組付けの簡素化、小型化、低コスト化を図ることができるだけでなく、装置の全高を、第１，第２アームの単位長さをｌとしたとき、搬送距離の（ｌ／４＋α）と低くしてワークの載せ降ろしなどのハンドリング性に優れたものにすることができる。換言すると、全搬送距離を（４×ｌ）と十分に長くしつつも、装置の全高を低く抑えることができる。しかも、腰折れ式リンク機構及び駆動手段等の可動部を水平搬送経路のワーク搬送面よりも下方部に収め、搬送面より上方への突出部をなくすることが可能であるため、作業者の衣服などが可動部に挟まれたり、接触して負傷したりすることがなく、ワーク搬送時における安全性も確保することができるとともに、工場内の視覚妨害もなくして所要設置スペースを縮小することができるという効果を奏する。
妨げる景観 The workpiece transfer device according to the present invention having the above-described characteristic configuration is pivotally connected to a hip-folding link mechanism including a first arm and a second arm that can be installed in the same plane, and a free end portion of the second arm of the link mechanism. It is composed of a work conveying member that is connected to each other and driving means for rotationally driving the link mechanism and the work conveying member around a horizontal axis, and the number of components is larger than that of a conventional telescopic work conveying device. Not only can the structure and assembly of the entire device be simplified, the size can be reduced, and the cost can be reduced, but the overall height of the device can be transferred when the unit length of the first and second arms is l. The distance can be made as low as (l / 4 + α), and the handling property such as loading and unloading of the workpiece can be made excellent. In other words, the total height of the apparatus can be kept low while the total transport distance is sufficiently long (4 × l). In addition, it is possible to store movable parts such as the waist-folding type link mechanism and the driving means below the work transfer surface of the horizontal transfer path and eliminate the protrusions above the transfer surface. Is not caught between moving parts, touched or injured, and safety during work transfer can be ensured, and the required installation space can be reduced without visual interference in the factory. There is an effect that can be done.
Landscape

本発明に係るワーク搬送装置における駆動手段としては、請求項２に記載のように、前記各水平軸心周りに正逆転切換可能に設けられた三つのモータから構成されたものであってもよいが、特に、請求項３に記載のように、前記腰折れ式リンク機構における第１アームを前記架台ベースへの支持用水平軸心周りに正逆転切換可能に回転駆動する一つのモータと、このモータの回転駆動力を前記第２アームの第１アームとの連結用水平軸心周りの回転力及び前記ワーク搬送部材の前記第２アーム遊端部への枢支連結用水平軸心周りの回転力として伝達する巻掛け式動力伝達機構とから構成されたものであることが望ましい。この場合は、単一のモータで可動部全体を所定通りに同期駆動させることが可能であり、搬送速度など装置全体の動作制御を簡単かつ安定よく行うことができる。   The drive means in the workpiece transfer apparatus according to the present invention may be configured by three motors provided so as to be capable of forward / reverse switching around each horizontal axis as described in claim 2. In particular, as described in claim 3, one motor for rotationally driving the first arm in the hip-folding link mechanism so as to be able to switch between forward and reverse rotation around a horizontal axis for supporting the gantry base, and the motor The rotational driving force of the second arm around the horizontal axis for connection with the first arm and the rotational force around the horizontal axis for pivot connection to the free end of the work transport member on the second arm It is desirable that the power transmission mechanism is a winding type power transmission mechanism. In this case, it is possible to drive the entire movable part synchronously with a single motor in a predetermined manner, and the operation control of the entire apparatus such as the conveyance speed can be performed easily and stably.

以下、本発明の実施の形態を、図面を参照しながら説明する。
図１は本発明に係るワーク搬送装置の第一実施例を示す概略平面図、図２は図１の側面図であり、これらの図に示されているワーク搬送装置１は、例えば工作機械等が設置されている二つの第１，第２加工ステーションＳ１，Ｓ２間に亘って工作物等のワークＷを一定の水平搬送経路Ｒに沿って搬送するものである。なお、本実施例では用いていないので、図示は省略するが、加工ステーションＳ１，Ｓ２間の水平搬送経路Ｒの左右両側に沿って長尺な板状または棒状のスライドガイドを架設した構成、あるいは、複数個のローラ群を自由回転自在に搬送方向Ｘに並置して滑り搬送面を形成させた構成を採用してもよい。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic plan view showing a first embodiment of a workpiece transfer device according to the present invention, FIG. 2 is a side view of FIG. 1, and the workpiece transfer device 1 shown in these drawings is, for example, a machine tool or the like A workpiece W such as a workpiece is transported along a fixed horizontal transport path R between the two first and second processing stations S1 and S2 in which is installed. Although not shown in the present embodiment, although not shown in the drawings, a long plate-like or rod-like slide guide is installed along the left and right sides of the horizontal conveyance path R between the processing stations S1 and S2, or Alternatively, a configuration may be adopted in which a plurality of roller groups are juxtaposed in the transport direction X so as to freely rotate and a sliding transport surface is formed.

２は前記水平搬送経路Ｒの中間部、すなわち、第１，第２加工ステーションＳ１，Ｓ２間の中間位置Ｍには、床面ＦＬから上方に向けて垂直に立設された架台ベースであり、この架台ベース２の上端部近くの側面には、一対の第１アーム３と第２アーム４の端部同士を第１の水平軸５の軸心周りに相対回転自在に連結してなる腰折れ式リンク機構６における第１アーム３の基端部が第２の水平軸７の軸心周りに回転自在に支持されている。また、前記腰折れ式リンク機構６における第２アーム４の遊端部には、ワークＷを載置支持可能なテーブル状のワーク搬送部材８が第３の水平軸９の軸心周りに回転可能に枢支連結されている。   2 is a pedestal base that is vertically erected upward from the floor surface FL at an intermediate portion of the horizontal transfer path R, that is, at an intermediate position M between the first and second processing stations S1 and S2. On the side surface near the upper end of the gantry base 2, a hip-fold type is formed by connecting the ends of the first arm 3 and the second arm 4 around the axis of the first horizontal shaft 5 so as to be relatively rotatable. The base end portion of the first arm 3 in the link mechanism 6 is rotatably supported around the axis of the second horizontal shaft 7. In addition, a table-like work conveying member 8 on which the work W can be placed and supported can be rotated around the axis of the third horizontal shaft 9 at the free end of the second arm 4 in the waist-folding link mechanism 6. It is pivotally connected.

前記架台ベース２の上端部外面には、前記腰折れ式リンク機構６における第１アーム３を前記第２の水平軸７の軸心周りに回転駆動する第１モータ１０が付設されているとともに、前記第１アーム３の先端部外面には、前記腰折れ式リンク機構６における第２アーム４を前記第１の水平軸５の軸心周りに前記第１モータ１０とは逆方向に回転駆動する第２モータ１１が付設され、かつ、前記第２アーム４の先端部外面には、前記ワーク搬送部材８を前記第３の水平軸９の軸心周りに前記第１モータ１０と同一方向に回転駆動する第３モータ１２が付設されている。 A first motor 10 is attached to the outer surface of the upper end of the gantry base 2 to rotate the first arm 3 of the waist-folding link mechanism 6 around the axis of the second horizontal shaft 7. On the outer surface of the distal end portion of the first arm 3, a second arm 4 in the waist-folding link mechanism 6 is rotated around the axis of the first horizontal shaft 5 in the direction opposite to the first motor 10. A motor 11 is provided, and the work conveying member 8 is driven to rotate around the axis of the third horizontal shaft 9 in the same direction as the first motor 10 on the outer surface of the distal end portion of the second arm 4. A third motor 12 is attached.

これら三つのモータ１０，１１，１２としては全て正逆転切換可能な同期モータが使用されており、これら三つのモータ１０，１１，１２は、第１モータ１０と第３モータ１２とが常に同一方向に同一速度で同時に回転駆動されるとともに、第２モータ１１が前記第１，第３モータ１０，１２とは逆方向に二倍速度で同時に回転駆動されるように、それらの回転方向及び回転速度等を予め設定したプログラムを有する単一のモータコントローラ１３に接続されている。 As these three motors 10, 11, and 12, synchronous motors that can be switched between forward and reverse are used, and in these three motors 10, 11, and 12, the first motor 10 and the third motor 12 are always in the same direction. Are rotated simultaneously at the same speed, and the second motor 11 is simultaneously rotated at a double speed in the opposite direction to the first and third motors 10 and 12, so that the rotation direction and the rotation speed thereof. Etc. are connected to a single motor controller 13 having a preset program.

次に、上記のように構成されたワーク搬送装置１による搬送動作について説明する。
まず、図３（Ａ）に示すように、前記腰折れ式リンク機構６における第１アーム３及び第２アーム４を、架台ベース２を基点として搬送方向Ｘの下流側（図面上、左側）に最大限伸張させてワーク搬送部材８を第１加工ステーションＳ１に移入させる。この状態で、ワーク搬送部材８上にワークＷを載置する。 Next, the transfer operation by the workpiece transfer apparatus 1 configured as described above will be described.
First, as shown in FIG. 3 (A), the first arm 3 and the second arm 4 in the hip-folding link mechanism 6 are maximally arranged downstream in the transport direction X (left side in the drawing) with the gantry base 2 as a base point. The workpiece conveying member 8 is transferred to the first processing station S1 with limited extension. In this state, the workpiece W is placed on the workpiece conveying member 8.

次いで、図３（Ｂ）に示すように、第１〜第３モータ１０，１１，１２を同期駆動させて前記腰折れ式リンク機構６における第１アーム３を前記第２の水平軸７の軸心周りで矢印ａ方向に回転駆動すると同時に、前記ワーク搬送部材８を前記第３の水平軸９の軸心周りで第１アーム３と同一方向ａに同一速度で回転駆動させ、かつ、第２アーム４を前記第１の水平軸５の軸心周りで第１アーム３と逆方向ｂに二倍速度で回転駆動させることにより、腰折れ式リンク機構６が収縮動作を開始してワーク搬送部材８が水平姿勢を保ったまま搬送経路Ｒを直線的に水平移動される。このワーク搬送部材８の移動に伴って、ワークＷは搬送方向の上流側（図面上、右側）に向けて搬送され、前記腰折れ式リンク機構６が最大限に収縮した段階では、図３（Ｃ）に示すように、第１，第２加工ステーションＳ１，Ｓ２間の中間位置Ｍにまで到達される。 Next, as shown in FIG. 3B, the first to third motors 10, 11, and 12 are driven synchronously so that the first arm 3 in the hip-folding link mechanism 6 is axially centered on the second horizontal shaft 7. The workpiece conveying member 8 is driven to rotate at the same speed in the same direction a as the first arm 3 around the axis of the third horizontal shaft 9 at the same time as the second arm. 4 is rotated around the axis of the first horizontal shaft 5 in the direction b opposite to the first arm 3 at a double speed so that the waist-folding link mechanism 6 starts to contract and the work conveying member 8 While maintaining the horizontal posture, the transfer route R is horizontally moved linearly. With the movement of the workpiece conveying member 8, the workpiece W is conveyed toward the upstream side (right side in the drawing) in the conveying direction, and when the waist folding link mechanism 6 is contracted to the maximum, the workpiece W is transferred to the position shown in FIG. ), The intermediate position M between the first and second processing stations S1 and S2 is reached.

この中間位置Ｍに到達した時点で、図３の（Ｄ）に示すように、第１モータ１０及び第３モータ１２を介して前記腰折れ式リンク機構６における第１アーム３及びワーク搬送部材８を続けて前記水平軸７，９の軸心周りで共に矢印ａ方向に同一速度で回転駆動すると同時に、第２アーム４を続けて前記水平軸５の軸心周りで矢印ｂ方向に回転駆動することにより、腰折れ式リンク機構６が伸張動作を開始してワーク搬送部材８が水平姿勢を保ったまま搬送経路Ｒを直線的に搬送方向Ｘの上流側に水平移動される。このワーク搬送部材８の移動に伴って、ワークＷは搬送方向Ｘの上流側に向けて搬送され、前記腰折れ式リンク機構６が最大限に伸張した段階では、図３の（Ｅ）に示すように、ワーク搬送部材８を介してワークＷが第２加工ステーションＳ２に搬入される。 When the intermediate position M is reached, as shown in FIG. 3D, the first arm 3 and the work conveying member 8 in the waist folding link mechanism 6 are moved via the first motor 10 and the third motor 12. Subsequently, the second arm 4 is continuously driven to rotate in the direction of the arrow b around the axis of the horizontal axis 5 at the same time as it is rotationally driven in the direction of the arrow a at the same speed around the axis of the horizontal shaft 7, 9. As a result, the waist-folding link mechanism 6 starts the extension operation, and the workpiece conveyance member 8 is linearly moved to the upstream side in the conveyance direction X along the conveyance path R while maintaining the horizontal posture. As the workpiece conveying member 8 moves, the workpiece W is conveyed toward the upstream side in the conveying direction X, and when the waist folding link mechanism 6 is extended to the maximum extent, as shown in FIG. Then, the workpiece W is carried into the second processing station S2 via the workpiece conveying member 8.

その後は、モータコントローラ１３からの制御信号により前記第１〜第３モータ１０，１１，１２の回転方向を切り換えて、第１アーム３及びワーク搬送部材８を共に矢印ａとは逆方向に、かつ、第２アーム４を矢印ｂとは逆方向に回転駆動させて腰折れ式リンク機構６を収縮動作させるとともに、この腰折れ式リンク機構６が最大限に収縮して中間位置Ｍに到達した後も、続けて第１アーム３及びワーク搬送部材８を矢印ａとは逆方向に、また、第２アーム４を矢印ｂとは逆方向に回転駆動させて腰折れ式リンク機構６を伸張動作させることにより、ワーク搬送部材８を水平姿勢を保ったまま搬送経路Ｒを搬送方向Ｘの上流側から下流側に直線的に移動させて図３の（Ａ）に示すように、第１加工ステーションＳ１に移入復帰させる。 Thereafter, the rotation direction of the first to third motors 10, 11, and 12 is switched by a control signal from the motor controller 13, and the first arm 3 and the work conveying member 8 are both in the direction opposite to the arrow a, and The second arm 4 is rotationally driven in the direction opposite to the arrow b to cause the waist-folding link mechanism 6 to contract, and after the waist-folding link mechanism 6 contracts to the maximum and reaches the intermediate position M, Subsequently, the first arm 3 and the work conveying member 8 are driven to rotate in the direction opposite to the arrow a, and the second arm 4 is driven to rotate in the direction opposite to the arrow b to extend the waist-folding link mechanism 6. With the workpiece conveying member 8 maintained in a horizontal posture, the conveying path R is linearly moved from the upstream side to the downstream side in the conveying direction X, and as shown in FIG. Let

上記の動作を繰り返すことにより、第１加工ステーションＳ１で所定の加工が施されたワークＷが次々と第２加工ステーションＳ２へと搬送され、この第２加工ステーションＳ２において次なる加工が施されることになる。 By repeating the above operation, the workpieces W that have been subjected to predetermined machining at the first machining station S1 are successively transferred to the second machining station S2, and the next machining is performed at the second machining station S2. It will be.

なお、前記腰折れ式リンク機構６を上述した動作とは逆に動作させることにより、ワークＷを第２加工ステーションＳ２から第１加工ステーションＳ１へと搬送させることも可能である。 It is also possible to transport the workpiece W from the second processing station S2 to the first processing station S1 by operating the hip-folding link mechanism 6 in the opposite direction to the above-described operation.

以上のように、ワーク搬送装置１が、同一面内に設置可能な第１アーム３と第２アーム４からなる腰折れ式リンク機構６と該リンク機構６の第２アーム４の遊端部に枢支連結されたワーク搬送部材８とこれらを水平軸７，９，５心周りに回転駆動させるモータ１０，１１，１２とから構成されるものであって、従来の伸縮式ワーク搬送装置に比べて構成部材数が少なくなり、装置１全体の構造及び組付けの簡素化、小型化、低コスト化を図ることが可能であるとともに、第１，第２アーム３，４の単位長さをｌとしたときの全搬送距離ＴＬ（４×ｌ）を十分に長く確保しつつ、装置１の全高Ｈを（ｌ／４＋α）と低く抑えてワークＷの載せ降ろしなどのハンドリング性に優れたものにすることができる。 As described above, the workpiece transfer device 1 is pivoted on the hip-folding link mechanism 6 including the first arm 3 and the second arm 4 that can be installed in the same plane, and the free end portion of the second arm 4 of the link mechanism 6. The work conveying member 8 is connected to the support and motors 10, 11, and 12 are driven to rotate around the horizontal shafts 7, 9, and 5, and compared to a conventional telescopic work conveying device. The number of components can be reduced, the structure and assembly of the entire apparatus 1 can be simplified, reduced in size, and the cost can be reduced, and the unit length of the first and second arms 3 and 4 is l. In this case, the total transport distance TL (4 × l) is sufficiently long, and the overall height H of the apparatus 1 is kept low (1/4 + α) so that the handling ability such as loading and unloading of the workpiece W is excellent. be able to.

また、腰折れ式リンク機構６及びモータ１０，１１，１２等の可動部を水平搬送経路のワーク搬送面よりも下方部に収め、搬送面より上方への突出部をなくすることが可能であるため、作業者の衣服などが可動部に挟まれたり、接触して負傷したりすることがなく、ワーク搬送時における安全性も確保することができるとともに、工場内の視覚妨害もなくして所要設置スペースを縮小することができる。 In addition, the movable parts such as the hip-folding link mechanism 6 and the motors 10, 11, 12 and the like can be accommodated in a lower part than the work conveying surface of the horizontal conveying path, and the protruding part above the conveying surface can be eliminated. In addition, workers' clothes are not pinched by moving parts, touched or injured, ensuring safety during work transfer, and no required visual space in the factory. Can be reduced.

図４は本発明に係るワーク搬送装置の第二実施例を示す要部の拡大側面図である。この第二実施例のワーク搬送装置１は、その駆動手段が、腰折れ式リンク機構６における第１アーム３を第２の水平軸７の軸心周りで回転駆動するように架台ベース２に付設した一つのモータ１０と、このモータ１０の回転駆動力を第２アーム４の第１の水平軸５の軸心周りの回転力及びワーク搬送部材８の第３の水平軸９の軸心周りの回転力として伝達するように、各水平軸７，５，９に径比が１：１／２：１のプーリ（またはスプロケット）１４，１５，１６を固定するとともに、それらプーリ１４，１５，１６間にベルト（またはチェーン）１７をたすき状に掛け渡し連動させた巻き掛け式動力伝達機構とから構成されたものであり、その他の構成は第一実施例と同様であるため、同一部材に同一の符号を付して、それらの詳しい説明を省略する。   FIG. 4 is an enlarged side view of a main part showing a second embodiment of the workpiece transfer apparatus according to the present invention. In the workpiece transfer device 1 of the second embodiment, the drive means is attached to the gantry base 2 so as to rotationally drive the first arm 3 in the hip-folding link mechanism 6 around the axis of the second horizontal shaft 7. One motor 10 and the rotational driving force of this motor 10 are rotated around the axis of the first horizontal axis 5 of the second arm 4 and the axis of the third horizontal axis 9 of the work conveying member 8. The pulleys (or sprockets) 14, 15, 16 having a diameter ratio of 1: 1/2: 1 are fixed to the horizontal shafts 7, 5, 9 so as to transmit as force, and between the pulleys 14, 15, 16. Since the belt (or chain) 17 is wound around and wound around the power transmission mechanism, and the other configurations are the same as in the first embodiment, Detailed description of them with reference numerals Omitted.

上記のような駆動手段を採用した第二実施例のワーク搬送装置１は、単一のモータ１０で可動部全体を所定通りに同期駆動させることが可能であり、第一実施例のように、三つのモータを用いる場合に比べて、搬送速度など装置全体の動作制御を簡単かつ安定よく行うことができる。   The workpiece transfer apparatus 1 of the second embodiment that employs the driving means as described above can synchronously drive the entire movable portion with a single motor 10 in a predetermined manner, as in the first embodiment. Compared with the case of using three motors, the operation control of the entire apparatus such as the conveyance speed can be performed easily and stably.

図５及び図６は本発明に係るワーク搬送装置の第三実施例を示す概略平面図及び側面図である。この第三実施例のワーク搬送装置１は、その駆動手段が、架台ベース２に付設した一つのモータ１０と、このモータ１０の回転駆動力を第１の水平軸５及び第３の水平軸９に伝達するベルト（またはチェーン）１７Ａ，１７Ｂと、第１の水平軸５の回転方向を逆方向に切り替えるとともに二倍速度に増速して第２アーム４の回転力として伝達する倍速機１８とから構成され、さらに、第２アーム４の長さを第１アーム３の長さよりも長くしたものであり、その他の構成は第一実施例と同様であるため、同一部材に同一の符号を付して、それらの詳しい説明を省略する。   5 and 6 are a schematic plan view and a side view showing a third embodiment of the workpiece transfer apparatus according to the present invention. In the workpiece transfer apparatus 1 of the third embodiment, the driving means has one motor 10 attached to the gantry base 2 and the rotational driving force of the motor 10 is applied to the first horizontal shaft 5 and the third horizontal shaft 9. Belts (or chains) 17A and 17B for transmitting to the speed changer, and a double speed machine 18 for switching the rotation direction of the first horizontal shaft 5 to the reverse direction and increasing the speed to double speed to transmit it as the rotational force of the second arm 4. Further, the length of the second arm 4 is longer than the length of the first arm 3, and the other configuration is the same as that of the first embodiment, so the same members are denoted by the same reference numerals. Therefore, detailed description thereof will be omitted.

上記のように構成された第三実施例のワーク搬送装置１においては、モータ１０の回転駆動力を伝達するためのベルト（またはチェーン）１７Ａ，１７Ｂをオープン掛けにすればよいので、腰折れ式リンク機構６の伸縮動作時にそれらベルト（またはチェーン）１７Ａ，１７Ｂに無理な負荷が働かず、確実かつ正常に伸縮動作性能を保持することができるとともに、その腰折れリンク機構６が最大限に収縮した段階でワーク搬送部材８が架台ベース２の頂部等に干渉することもなく、所定のワーク搬送をトラブルなく円滑に行うことができる。   In the workpiece transfer device 1 of the third embodiment configured as described above, the belts (or chains) 17A and 17B for transmitting the rotational driving force of the motor 10 need only be opened, so that the waist folding link An excessive load is not applied to the belts (or chains) 17A and 17B during the expansion / contraction operation of the mechanism 6, and the expansion / contraction operation performance can be reliably and normally maintained, and the waist folding link mechanism 6 is contracted to the maximum. Thus, the workpiece transfer member 8 does not interfere with the top of the gantry base 2, and the predetermined workpiece transfer can be performed smoothly without any trouble.

なお、上記各実施例では、単一のワーク搬送装置１における腰折れ式リンク機構６の伸張・収縮動作により比較的短い距離のワーク搬送に用いる場合について説明したが、複数のワーク搬送装置を並列設置してワークＷを順次引継ぎ搬送させるような長距離搬送装置に適用することも可能である。 In each of the above embodiments, a case has been described in which a single workpiece transfer device 1 is used for workpiece transfer over a relatively short distance by the expansion / contraction operation of the waist-folding link mechanism 6, but a plurality of workpiece transfer devices are installed in parallel. It is also possible to apply the present invention to a long-distance conveying apparatus that sequentially takes over and conveys the workpiece W.

本発明に係るワーク搬送装置の第一実施例を示す概略平面図である。It is a schematic plan view which shows the 1st Example of the workpiece conveyance apparatus which concerns on this invention. 図１の側面図である。It is a side view of FIG. （Ａ）〜（Ｅ）は、ワーク搬送作用を説明する側面図である。(A)-(E) are the side views explaining a workpiece conveyance effect | action. 本発明に係るワーク搬送装置の第二実施例を示す要部の拡大側面図である。It is an enlarged side view of the principal part which shows the 2nd Example of the workpiece conveyance apparatus which concerns on this invention. 本発明に係るワーク搬送装置の第三実施例を示す概略平面図である。It is a schematic plan view which shows the 3rd Example of the workpiece conveyance apparatus which concerns on this invention. 図５の側面図である。FIG. 6 is a side view of FIG. 5. （Ａ），（Ｂ）は従来のアーム式ワーク搬送装置の概略側面図である。(A), (B) is a schematic side view of the conventional arm type workpiece conveyance apparatus. 従来の伸縮式ワーク搬送装置の一例を示す概略側面図である。It is a schematic side view which shows an example of the conventional telescopic workpiece conveyance apparatus. 従来の伸縮式ワーク搬送装置の他の例を示す概略側面図である。It is a schematic side view which shows the other example of the conventional telescopic workpiece conveyance apparatus. 従来の伸縮式ワーク搬送装置のもう一つの例を示す概略側面図である。It is a schematic side view which shows another example of the conventional telescopic workpiece conveyance apparatus.

符号の説明Explanation of symbols

１ ワーク搬送装置
２ 架台ベース
３ 第１アーム
４ 第２アーム
５ 第１の水平軸
６ 腰折れ式リンク機構
７ 第２の水平軸
８ ワーク搬送部材
９ 第３の水平軸
１０〜１２ モータ
１４〜１６ プーリ（またはスプロケット）
１７ ベルト（またはチェーン）
Ｗ ワーク
Ｘ 搬送方向 DESCRIPTION OF SYMBOLS 1 Work conveying apparatus 2 Base base 3 1st arm 4 2nd arm 5 1st horizontal axis 6 Waist folding type link mechanism 7 2nd horizontal axis 8 Work conveyance member 9 3rd horizontal axis 10-12 Motor 14-16 Pulley (Or sprocket)
17 Belt (or chain)
W Work X Transport direction

Claims (3)

ワークを一定の水平搬送経路の上流側から下流側に搬送するためのワーク搬送装置であって、
一対の第１アームと第２アームの端部同士を水平軸心周りに相対回転自在に連結してなる腰折れ式リンク機構における第１アームの基端部が、前記搬送経路の下部に立設した架台ベースの上部に水平軸心周りに回転自在に支持されているとともに、第２アームの遊端部には、ワークを載置支持可能なワーク搬送部材が水平軸心周りに回転可能に枢支連結され、前記腰折れ式リンク機構における第１アームを前記架台ベースへの支持用水平軸心周りに、かつ、前記ワーク搬送部材を前記第２アーム遊端部への枢支連結用水平軸心周りに同一方向に同一速度で同時に回転駆動するとともに、第２アームを第１アームとの連結用水平軸心周りに該第１アームとは逆方向に二倍速で同時に回転駆動する駆動手段が正逆転切換可能に設けられ、この駆動手段の正逆転切換えに伴い前記腰折れ式リンク機構を、前記架台ベースを基点として搬送方向に収縮・伸長動作させることにより、前記ワーク搬送部材を一定姿勢に保ちつつワークを前記一定の水平搬送経路に沿って搬送させるように構成していることを特徴とするワーク搬送装置。 A workpiece transfer device for transferring a workpiece from the upstream side to the downstream side of a certain horizontal transfer path,
The base end portion of the first arm in the hip-fold link mechanism in which the ends of the pair of the first arm and the second arm are connected to each other so as to be relatively rotatable around the horizontal axis is erected at the lower portion of the transport path. A work transport member capable of mounting and supporting a work is supported on the free end of the second arm so as to be rotatable about the horizontal axis. The first arm in the waist-folding link mechanism is connected around the horizontal axis for supporting the gantry base, and the work conveying member is around the horizontal axis for pivotal connection to the second arm free end. In addition, the driving means for simultaneously rotating and driving the second arm around the horizontal axis for connection with the first arm in the same direction and at the same speed at the same time in the opposite direction to the first arm at double speed This switch is provided so that it can be switched. In accordance with the forward / reverse switching of the stage, the waist folding type link mechanism is contracted / extended in the transport direction with the gantry base as a base point, thereby keeping the work transport member in a constant posture and moving the work to the constant horizontal transport path. A workpiece transfer apparatus configured to be transferred along a workpiece. 前記駆動手段が、前記各水平軸心周りに正逆転切換可能に設けられた三つのモータから構成されている請求項１に記載のワーク搬送装置。   2. The workpiece transfer apparatus according to claim 1, wherein the driving means is constituted by three motors provided so as to be able to switch between forward and reverse rotations around each horizontal axis. 前記駆動手段が、前記腰折れ式リンク機構における第１アームを前記架台ベースへの支持用水平軸心周りに正逆転切換可能に回転駆動する一つのモータと、このモータの回転駆動力を前記第２アームの第１アームとの連結用水平軸心周りの回転力及び前記ワーク搬送部材の前記第２アーム遊端部への枢支連結用水平軸心周りの回転力として伝達する巻掛け式動力伝達機構とから構成されている請求項１に記載のワーク搬送装置。


The driving means rotationally drives the first arm of the hip-fold link mechanism so as to be able to switch between forward and reverse rotation around a horizontal axis for supporting the gantry base, and the rotational driving force of the motor is the second driving force. Wound-type power transmission that transmits the rotational force around the horizontal axis for connection with the first arm of the arm and the rotational force around the horizontal axis for pivot connection to the second arm free end of the work conveying member. The workpiece transfer apparatus according to claim 1, comprising a mechanism.


JP2005282788A 2005-09-28 2005-09-28 Workpiece transfer device Pending JP2007090487A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112476457A (en) * 2019-09-11 2021-03-12 Ykk株式会社 Robot mechanism, and method for conveying slide fastener and method for inspecting slide fastener using the same
CN112794011A (en) * 2019-11-13 2021-05-14 昕芙旎雅有限公司 Vibrating conveyor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0354555Y2 (en) * 1986-01-20 1991-12-02
JPH10163294A (en) * 1996-12-05 1998-06-19 Dainippon Screen Mfg Co Ltd Substrate transporting device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0354555Y2 (en) * 1986-01-20 1991-12-02
JPH10163294A (en) * 1996-12-05 1998-06-19 Dainippon Screen Mfg Co Ltd Substrate transporting device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112476457A (en) * 2019-09-11 2021-03-12 Ykk株式会社 Robot mechanism, and method for conveying slide fastener and method for inspecting slide fastener using the same
CN112794011A (en) * 2019-11-13 2021-05-14 昕芙旎雅有限公司 Vibrating conveyor

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